OMG: Omni-Modal Motion Generation for Generalist Humanoid Control
- Published
- Source
- arXiv
- Paper number
- 384
- Field
- Robotics
- arXiv ID
- 2606.10340
Key points
- A hierarchical structure with a motion-generation brain and a motion-tracking cerebellum generalizes whole-body humanoid control.
- OMG-Data is a 1,174.66-hour omni-modal humanoid motion corpus containing language, audio, and human motion.
- OMG-DiT is a diffusion transformer conditioned on language, audio, and human references, and it can be extended to new modalities.
- It achieves an FID of 6.03 on text-to-motion with OMG-XL, which is a large improvement over prior methods.
- It supports zero-shot compositionality, so unseen combinations of language and audio can be combined at inference time.
- Performance improves consistently as the model scales from B to L to XL.
Paper links
External research summaries. These are not HDATF publications or measured product results.